import trimesh
import numpy as np
from copy import deepcopy

mesh = trimesh.load_mesh('finger.obj')
mesh_1 = trimesh.load_mesh('gripper.obj')
#T = trimesh.transformations.translation_matrix([-0.000,-0.0065, 0 ])
mesh_2 = deepcopy(mesh)
#mesh.apply_transform(T)
#mesh_2.apply_transform(T)
#R_l = trimesh.transformations.euler_matrix(np.pi/2, np.pi/2, 0, 'rxyz')
#R_r = trimesh.transformations.euler_matrix(np.pi/2, np.pi/2, np.pi, 'rxyz')
#mesh.apply_transform(R_l)
#mesh_2.apply_transform(R_r)
#T = trimesh.transformations.translation_matrix([-0.025,-0.005, 0.015])
T = trimesh.transformations.translation_matrix([0.025, 0, -0.061])
mesh_1.apply_transform(T)
#R_r = trimesh.transformations.euler_matrix(0, 0, np.pi, 'rxyz')
#mesh_2 = deepcopy(mesh)
#mesh_2.apply_transform(R_r)
#(mesh + mesh_1+mesh_2).show()
mesh_1.show()
